Hi, In fact it was a problem of timestamp: I published my data without setting the timestamp whereas the fixed frame was published with a correct timestamp. It's now fixed. Thanks for your suggestions. Cheers, Ugo On 09/06/10 18:20, Ivan Dryanovski wrote: > Ugo, > > Have you tried running this? > > rosrun tf view_frames > evince frames.pdf > > Also, (and this might not be the source of the problem), but make sure > that all your frames have only a single parent. That is if you publish > transforms like > > fixed -> /srh/position/shadow_forearm > srh/position/lfdistal -> /srh/position/shadow_forearm > > Both of these would work idividually, but publishing them together > will cause a problem > > Ivan Dryanovski > > > On Wed, Jun 9, 2010 at 12:51 PM, Ugo Cupcic wrote: > >> Hi, >> >> I'm having some problem displaying some /tf in rviz. I'm working on >> displaying a hand in rviz. >> >> Here is the situation: >> I have a robot_state_publisher transforming joint_datas to tf, and I can >> view the model in rviz, using a frame published by the >> robot_state_publisher (/srh/position/shadow_forearm). This works fine, I >> see my whole hand, I can move the fingers, etc... >> >> I'm then publishing a fixed transform:> type="static_transform_publisher" name="fixed_frame_pos_pub" args="0 0 0 >> 0 0 0 fixed /srh/position/shadow_forearm 20" /> which transforms the >> /srh/position/shadow_forearm to /fixed. This fixed transform is published. >> When I view this new /tf in rviz, the forearm goes to /fixed frame which >> is fine, but I get errors for all the other joints saying "No transform >> from [srh/position/lfdistal] to [/fixed]". The other joints are then not >> displayed (no transform). >> >> However, the transform from shadow_forearm to fixed is published and the >> transform from the rest of the joints to shadow_forearm are published as >> well. >> >> Any ideas ? >> >> (I hope I was clear :S) >> >> Cheers, >> >> Ugo >> >> -- >> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >> Software Engineer 251 Liverpool Road >> need a Hand? London N1 1LX | +44 20 7700 2487 >> http://www.shadowrobot.com/hand/ @shadowrobot >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer 251 Liverpool Road need a Hand? London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot